#include "constants.h"
#include "library.h"

#ifndef CORRELATION_H_
#define CORRELATION_H_
#define DD_VECTOR std::vector<DD>

/**
 * ALL coordinates passed to Motion model is in the odom frame.
 */
class Correlation {
	public:
		MATRIX mapLocal;
		int windowHeight, windowWidth;		

		MotionModel();
		MotionModel(int maxRange, DD_VECTOR& laserVals);
		
		virtual ~MotionModel();
		double dot_product(MATRIX& map);
		double getMesureProb();
		
	private:
		tf::TransformListener listener;
		
};
#endif
